From 7e2fb5370a1455f019f67913bea74642ccb515d9 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Tue, 1 Jul 2025 15:00:28 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8D=95=E6=8B=A8=E4=B8=A4=E6=AC=A1=E8=BF=90?=
 =?UTF-8?q?=E7=90=83=E4=BD=86=E4=BC=9A=E5=87=BA=E5=B0=8F=E5=A4=B1=E8=AF=AF?=
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---
 MDK-ARM/.vscode/keil-assistant.log | 2 ++
 MDK-ARM/R1.uvoptx                  | 4 ++--
 User/module/ball.cpp               | 4 +++-
 3 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 33239a6..e94b1fa 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -94,3 +94,5 @@
 
 [info] Log at : 2025/7/1|00:00:07|GMT+0800
 
+[info] Log at : 2025/7/1|14:59:17|GMT+0800
+
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 6d65eae..e374b68 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -1059,7 +1059,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1091,7 +1091,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 40cc84b..e6c5fba 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -226,13 +226,15 @@ void Ball::Move_Extend()
         break;
 
     case BALL_FINISH:
-        osDelay(50); // 延时 50ms
+        osDelay(200); // 延时 50ms
         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
         runCount++;
+		    osDelay(200); // 延时 50ms
         if (runCount < 2)
         {
             currentState1 = BALL_FORWARD; // 继续下一次运球
+						osDelay(50);
         }
         else
         {